WO1999016296A1

WO1999016296A1 - Mechanically picking fruit from trees

Info

Publication number: WO1999016296A1
Application number: PCT/US1998/019882
Authority: WO
Inventors: William S. Crunkelton
Original assignee: Crunkelton William S
Priority date: 1997-09-30
Filing date: 1998-09-25
Publication date: 1999-04-08
Also published as: EP0948252B1; US6098389A; ZA988868B; EP0948252A4; EP0948252A1; US5966915A; US6430910B1

Abstract

A harvesting machine (30) for mechanically picking tree-ripened fruit, and its method of operation via an array of substantially horizontal arms (32), supporting picking fingers (52), deployable into the tree foliage, and withdrawable to sever the fruit stems (62), supplemented by collection of fruit (64) from a pan (192) deployable underneath the array. Each supporting arm (32) is mounted resiliently, enabling it to be deflected upward or downward, and/or sideways, to bypass foliage encountered during its deployment, and also enabled to uncouple and to slide backward upon encountering a tree trunk, and also to be recoupled upon its withdrawal to rest position. Picking fingers (52) protrude laterally outward from the arms (32), obliquely opposite to the deployment direction, and are depressible during deployment to bypass encountered foliage. During withdrawal of the array, the fingers (52) are effective to sever encountered ripe fruit stems (62) and also to be pivoted backward by an unseverable branch (68) or stem (62) and so bypass it.

Description

MECHANICALLY PICKING FRUIT FROM TREES

TECHNICAL FIELD This invention relates to the mechanical harvesting or "picking" of tree-grown fruit, such as citrus, especially without damaging either the fruit or the tree bearing it . BACKGROUND ART Mechanically aided harvesting of tree fruit is gaining in desirability because expenses of employing fruit-picking workers are rising, not only in direct costs, but also by reason of customary operational inefficiencies, such as failing to pick all the ripe fruit, which becomes overripe and useless, or picking unripe fruit, which then can never become ripe, as well as perhaps damaging twigs or branches of such fruit-bearing trees in doing so. An earlier type of mechanical fruit-picking equipment shook at least part of a fruit-bearing tree to dislodge the ripest fruit, now recognized as insufficiently effective, and likely to harm both fruit and tree. Examples appear in U.S. patents to Clark, 3,462,930 (1969); Carson, 3,561,204 (1971); and Korthuis, 4,974,404 (1990) & 5,027,593 (1991). Other attempts, still continuing, have focused more on emulating human picking movements, to optimize the results. Yet the task has proved more difficult than ever expected. Examples in U.S. patents include Baker, 3,561,205 (1971); Reynolds, 3,623,306 (1971); Chen, 3,827,221 (1974); Robbins 4,163,356 (1977); Reynolds 4,192,125 (1990); Edwards, 4,202,158 (1980) & 4,208,860 (1980); Peterson, 4,377,064 (1983); Visser, 5,421,146 (1995) & 5,428,947 (1995); and Wilkinson, 5,666,795 (1997). Comparable prior efforts of the present inventor resulted in U.S. Patent 5,161,358 (1992). The main deficiency of the preceding attempts has been an inability to maximize picking of the ripe fruit, while minimizing related damage to both ripened and unripe fruit. Such seemingly incompatible goals proved to be unexpectedly more difficult to attain than the inventors likely thought. DISCLOSURE OF THE INVENTION In general, this invention provides means and methods for improved mechanical harvesting of citrus fruit or other tree-ripened fruit, in so versatile a manner as to pick the fruit ripe enough to be severable from its supporting stem, but not to damage either the fruit tree or the machinery as its array of supporting arms, each with picking fingers, is deployed into the tree foliage, or alternatively whenever a picking finger encounters an unripe stem or non-severable foliage during array withdrawal to its undeployed position. A vehicle movable between rows of fruit trees carries both a fixed upstanding backstop and adjacent upright frame carrying an array of horizontally protruding arms, each arm supporting numerous laterally protruding picking fingers. The frame and its array of arms are deployable from such an undeployed position to project the arms into tree foliage. Each arm is mounted resiliently, to be deflectable up, down, and/or sidewise, to bypass sufficiently unyielding branches, also to uncouple and slidably cease advancing on encountering a tree trunk or equivalent during deployment. An uncoupled arm is recoupled on abutting the backstop when the array returns to its original undeployed rest position. Each supporting arm carries laterally protruding pick- ing fingers, their structure and supporting arrangement being modified in part from the showing in my prior patent. Each finger is normally biased obliquely backward, and is depressible nearly flush with the arm upon normal lateral encounters with a branch. Upon withdrawal of the array of arms, the fingers detach or "pick" fruit by gripping and severing the supporting stems, whereupon the picked fruit collects in a suitably located underlying receptacle. The fingers are enabled to pivot over-center backward so as to release fruit attached too firmly to its stem to be picked. Other attributes and features of this invention will become apparent from the following description by reference to the accompanying diagrams of a preferred embodiment thereof presented by way of example rather than limitation. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a top plan view of a harvesting machine of the present invention, situated within a fruit tree grove; Fig. 2 is a similar plan view, with a movable frame deployed to project picking arms into the tree foliage; Fig. 3 is a rear elevational view of the same machine, with the movable frame at rest in non-deployed position; Fig. 4 is a similar rear elevation, but with movable frame and supported arms deployed via pantograph linkage; Fig. 5 is a side elevation of the same machine with movable frame and supported arms in non-deployed position; Fig. 6 is a similar side elevation of that machine, with the movable frame and arms in non-deployed position; Fig. 7 is a top plan view of a supporting arm carrying its picking fingers in normal rest position; Fig. 8 is a top plan view of a supporting arm end cap; Fig. 9a is a picking finger front elevational view; Fig. 9b is a top plan view of the same picking finger; Fig. 9c is a rear elevational view of the same finger; Fig. 9d is a bottom plan view of the same finger; Fig. 10 is a front elevational view of a supporting arm with picking finger in rest position pivotable thereon; Fig. 11a is a fragmentary sectional plan view of the assembly of a supporting arm and a picking finger thereon in normal rest position, at section line 11a on Fig. 10; Fig. lib is a view similar to Fig. 11a, except with the picking finger depressed into arm insertion position; Fig. lie is a view similar to the two preceding views except that the picking finger is oriented at a right angle to its supporting arm, as in retrograde pivoting of it by an unyielding branch in withdrawal of the arm from foliage; Fig. lid is a view of the extreme retrograde pivoted position of the picking finger relative to supporting arm; Fig. 12 is a vertically exploded perspective view of a supporting arm and its mounting assembly; Fig. 13a is a perspective view of a supporting arm and its mounting assembly in normally seated relationship; Fig. 13b is a perspective view of a supporting arm and its mounting assembly in abnormally unseated relationship; Fig. 14 is a front elevational view of a partial array of four supporting arms and respective picking fingers; Fig. 15 is a side elevational view of a supporting arm mounting assembly, with respective arms diversely oriented; Fig. 16 is a rear elevational view of an arm reseating assembly for supporting arms unseated by unyielding trees; Fig. 17 is a side elevational view of an alternative embodiment of pantograph assembly for the supporting arms; Figs. 18a, 18b, and 18c are side elevational views of yet another embodiment of pantograph assembly in respective fully retracted or rest position, in its partially extended position and in its fully extended position; Figs. 19a to 19h are top plan views of supporting arm and picking finger at successive stages in deployment and retraction, the finger being depressed by a branch upon for- ward movement and undergoing over-center backward pivoting of the illustrated finger thereby during retraction; Figs. 20a to 20g are top plan views of supporting arm amd picking finger at successive stages in deployment and retraction, wherein a fruit stem is engaged by the finger and the fruit is successfuly picked off thereby; Fig. 21 is a top plan view of another embodiment of harvesting machine according to this invention; and Fig. 22 is a side elevational view of the harvesting machine of views before Fig. 21 in transport configuration. MODES FOR CARRYING OUT THE INVENTION For convenience of readers of the particularized first part of the following description, a table of reference numerals is appended at the end of this specification. Figs. 1 to 6 show a preferred embodiment of harvesting machine 30 according to the present invention. Figs. 1, 3, and 5 show array 112 of supporting arms 32, non-deployed; Figs. 2, 4, and 6 show the same array fully deployed. Figs. 1 and 2 show embodiment 30 from above in upright harvesting position 214, in grove 128 of fruit-bearing trees 36, represented as two rows 130 of three trees each. The individual fruits are represented by small circles within the scalloped outer edges of foliage. The left half of the tree outlined at the lower right has only a couple of such circles remaining, its fruit having been picked. Free space 216 is clearance between machine and tree row. The machine has advanced preparatory to the picking of fruit in the lower left quadrant of the next tree in the same row- -by means of self-propelled transport assembly 122 featuring operator cage 123 forward. Transport wheels 124 are rotated by an engine (not shown) via hydraulic drives 126. Visible at the rear is part of fruit catcher assembly 190, including secondary transfer assembly 196 with output end opening 212 therein. Arm cage 111, supported on housing 110, surrounds the array of supporting arms (each of length 34) as pantograph 140 is in non-deployed (position 218) , to preclude possible damage to the array during transport. Arms 32 in array 112 are in row levels 114, with the rows laterally offset from level to level, readily visible in subsequent side views. Figs. 3 and 4 show this embodiment, in rear elevation, first in non-deployed (or retracted) position 214 and then in deployed position 220, referenced to arm housing member 110, whereas arm cage 111 remains in place in both views. Prominently visible is pantograph 140, comprising scissors- like links, sharing central pivot connection 148, secured between upright support housing 142 and upright arm housing 110 at fixed upper pivot points 144 and vertically slidable lower pivot points 146. Deployment and retraction to non- deployed rest position are provided by pair of hydraulic drives 150 (one visible here) . Fig. 5 shows details of fruit collection assembly 190: pan 192, on frame 116 bottom end extensions 208, with access panel 210, contoured ends 202, at maximum forward extent 204, being enabled by lift assembly 194, as in its lowered position 200 on ground 206. Fig. 7 shows single supporting arm 32 in tubular form 38 extending for length 34 having roller 51 on its its back or coupling end 42, and fitted at its front end 40 with end cap 48 tapering to nose 46. The arm carries a half dozen representative laterally protruding picking fingers 52 (spaced alternately on opposite sides) extending obliquely backward. Fig. 8 shows the end cap in more detail, more especially as being relieved along its rear edge so as to fit within the otherwise open front end of the arm. Figs. 9a to 9d show a preferred embodiment of picking finger 52, viewed in respective successive front elevation, top plan, rear elevation, and bottom plan. Accordingly, it has upper surface 72, lower surface 74, near or inner sur- face 54, and far or outer surface 56 (the latter two as re- lated to its normally oblique orientation to its supporting arm) . Left end 58 of this finger is its normally protrud- ing outer end, at the (viewer's) left, as on the arm of the preceding view, the other end of the finger being pivotally mounted within the arm, as shown in subsequent views. The upper surface of the finger has chevron-shaped hollow 78 with front cutting edge 80 to hold and sever a fruit stem where juxtaposed to the arm. The back of the finger has several indentations 76 midway between the exposed end of the finger and its supporting arm to engage the top of a fruit whose stem is being gripped by the engaging finger. Fig. 10 shows finger 52 as supported by arm 32, viewed head-on, preparatory to illustration of the next sequence of views, showing the mounting of such a picking finger in its supporting arm, taken along the section line 11a here. Figs. 11a to lid show supporting arm 32 fragmentarily in sectional top plan along with picking finger 52 mounted pivotally on pivot shaft 90 in the arm. In Fig. 11a, the finger protrudes through opening 92 in the left side of the arm and extends obliquely forward in normal rest position 82, as set by tension of spring 98, whose transfer end 96 normally is in mear end 106 of transfer slot 94 in the base of the finger, its other end being secured to anchor 100. In Fig. lib, the picking finger is depressed against a portion of the sidewall of the supporting arm recessed to accommodate it substantially flush with the adjacent side of the arm, in the orientation assumed by the finger when encountering a branch during deployment and thereby enabled to bypass the branch, whereupon the finger will return to its normal deployed orientation as in Fig. 11a, and upon withdrawal of the array will function normally. Of course, the desired function is to sever a fruit stem, but if the finger encounters a branch instead, which it cannot sever, it can pivot over-center, through perpendicular orientation 104 to the arm, in Fig. lie, on through an arcuate range 86 to an extreme backward position at other end 107 of slot- like opening 92, as in Fig. lid, to bypass any branch that can be bypassed, much as it would be by depression pivoting of the finger upon arm deployment as in Fig. lib. Transfer slot has curvature 107 concave to the spring end travel, thus contributing to an over-center pivoting of the finger. Fig. 12 shows a supporting arm 32 and its mounting, an assembly of a half dozen component pieces, symmetrically arranged, three above and three below, relative to the arm. Mount boxes 120 are outermost, resilient blocks 170 are in- termediate, and guides 162 are innermost, abutting the arm (whose further forward portion is omitted from this view) . At its back end, the arm itself has roller 51, then nearby coupling member 184 extending above and below the arm, and next the mounted portion of the arm. The picking fingers (not shown) are supported further forward. Each guide 162 has groove 164 in one face, to receive the arm slidably, and has a rear end 182 defining C-shaped slot 180 intercon- nectable with arm coupling member 184 in normal deployment configuration. The opposite (ungrooved) face of each guide has rectangular recess 166 therein, well spaced from each end, adapted to receive the base of the adjacent resilient block from front end 168 to rear end 176. Mounting boxes 120 have symmetrically arranged upper and lower pans 172 and 174 into which outer surfaces of respective blocks fit. Figs. 13a and 13b show supporting arm 32 within the assembled mounting components shown in preceding Fig. 12. Fig. 13a shows the arm in normal operating position, with coupling member 184 seated in the slot formed in back end 180 when in its normal configuration. As noted above, the picking fingers, being further forward, are not visible here. Fig. 13b shows the same arm slidably uncoupled or unseated, with coupling member 184 absent from and visible ahead of) complementarily shaped back end 180 of the arm, as after an encounter of its forward end with a tree trunk or similarly unyielding branch. It is preferable for the arm to become unseated and slide back rather than to remain coupled and become damaged or cause damage to its mounting. Whenever the array is withdrawn to its original undeployed position, contact of arm rollers 51 with backstop 186 (Fig. 16) returns uncoupled arms to normal seated configuration. Fig. 14 shows, fragmentarily in front elevation, array frame 116, for four representative supporting arms 32, each with a pair of picking fingers (unnumbered here) protruding to the right and left. The arms are diagonally offset in height and supported in their respective mounts as shown in preceding views, carried by spaced vertical frame plates 118, which are viewed edge-on here. Fig. 15 shows, in fragmentary side elevation, a plate 118 carrying four supporting arms 32, variously oriented on their flexible mounts. Only parts of resilient blocks 170 and guides 162 are visible. (Deflection of the arms out of the plane of this view is not discernible- -but may exist.) The topmost arm is visibly slanting up. The arm next below it is level (but may be deflected somewhat to either side) . Both of these first two arms are fully engaged with their mountings. However, the remaining arms are both unseated. Whereas the lowermost arm is shown deflected downward, to about the same extent as the top one is deflected upward, this bottom arm also has become uncoupled, and now has slid somewhat to the rear of its fully seated position, and the uncoupled arm just above it has slid even further backward. Fig. 16 shows backstop 186, a vertical panel, divided in half (doorlike) to facilitate access, and adapted- -when abutted by roller 51 on the back end of an uncoupled arm 32, as the array has been withdrawn to its original un- deployed position- -to force such unseated arm forward and so recouple it to guides 162 of its mounting. In practice, the backstop function may be incorporated into the rearmost member of housing 142 remaining stationary during deploy- ment and withdrawal. Alternatively, a separate backstop may be fastened to such frame member, as may be preferable. Fig. 17 shows, in side elevation, first alternative or second embodiment 152 of arm-deployment pantograph, partly extended, with more links and intersecting pivots 154, than already shown, as in Figs. 3 and 4. Fig. 18 shows third (second alternative) two-link arm- deployment pantograph 156 having slotted tracks 158 in the lower ends of links 160 to allow them to fold completely down and against the vertical members. Figs. 19a to 19h illustrate, from overhead, deployment and retraction or withdrawal of the foremost portion of a representative arm 32, featuring the action of the picking finger as the arm advances and withdraws having encountered a branch 66 instead of a fruit stem. In Figs. 19a to 19c, the arm is moving forward (arrow 60) during its deployment. Picking finger 56 protruding from the arm arm encounters branch 66 in Fig. 19a, and becomes depressed by the branch substantially flush with the arm in Fig. 19b, and finally has passed by the branch in Fig. 19c. At full deployment, the arm reverses direction (reverse arrow 60) , then picking finger 56 engages branch 66 (at acute junction 70) in Fig. 19c. The branch not being severable by the finger, further withdrawal of the arm forces the finger outward and nearly perpendicular (104) to the arm in Fig. 19e, then over- center past the perpendicular in Fig. 19g, and completely backward and against the forward part of the arm in Fig. 19g. Then the branch slips past (aided by some lateral arm deflection) and returns to normal orientation in Fig. 19h. Figs. 20a to 20g illustrate, in like manner to Figs. 19a to 19g, the functioning of the preferred embodiment in actually severing stem 62 of tree-ripened fruit 64, thereby actually picking the fruit from its tree. In Fig. 20a, the forward end of supporting arm 32, with picking finger 52 protruding obliquely at an acute angle with the trailing part of the arm, is approaching fruit 64 supported on stem 62. In Fig. 20b, the fruit is abeam of the arm end and is partly underneath it. In Fig. 20c, stem 62 is engaging the finger and depressing it slightly as the arm moves past it. In Fig. 20d, the stem is just past the finger and the fruit is hanging therefrom, still partly underneath the arm. The arm has reached full deployment, and in the rest of this series of views the arm travel is in the retracting or withdrawing direction (reverse arrows) . In Fig. 20e, stem 62 has slid to apex 70 of the angle between the picking finger and the arm. In Fig. 20f, the stem has been pulled, raising the fruit until it is against the finger, severing the stem. Finally, in Fig. 20g, the fruit has disappeared, and only a fragment of stem 62 is in the plane of the view, as the arm continues toward its non-deployed position. Fig. 21 shows, from overhead, another embodiment of transport vehicle 132 of this invention, differing from the first embodiment by having the harvesting machine drawn by tractor 134 instead of being self-propelled. Otherwise this view is quite similar to Fig. 1, although the portion of the first tree already picked is somewhat smaller. Fig. 22 shows, in side elevation, configuration 136 with arm cage 111 and contents rotated ninety degrees from their previous upright harvesting configuration 136 of Figs. 1 to 6, as may be required for off-grove travel in many legal jurisdictions and which is likely to prove safer for the harvesting machinery as well. The height reduction provides increase overhead clearance and also improves load stability, thus increasing roadworthiness. The foregoing comments about operational features of the harvesting machine of this invention may have provided an adequate understanding of its modes of operation and the satisfactory results thereof, keyed to structural features upon which such successful operation depends, and detailing the best mode known to the inventor at the present time. Yet it might be possible to achieve satisfactory results by minor alteration in or substitution for some such features. The present description cannot be all-inclusive as to that. This invention does not require any unusual materials, nor does it involve any unusual techniques of construction. Metal components are fabricated by customary metal-working methods. The resilient mounting of the supporting arms for the picking fingers necessitates hard rubbers or synthetic elastomers to provide the desired degree of deflection, yet will be dependent upon arm composition, length, and weight. The same is true of the arm coupling member and the opening provided for complementary fit in the aft end of guides, as both members need to flex appropriately to seat and unseat. Modest experimentation with size and shape should suffice. Similarly with the exact size and shape of picking fingers and their mounting, including spring tension and the size, shape, and placement of the transfer slot for best results. The assembly of the arms array and the assembly of the arm mounting are designed for ready disassembly, as may be necessary for repair or replacement of damaged or worn-out components, as should be expected with the extending arms, their resilient mountings, and protruding picking fingers. The picking fingers are redesigned for improvement in the interaction between fruit, stem, and finger- -where fine adjustments may be needed, even when going from one kind or variety of fruit to another, such as in spring tension. The extension and lowering of the fruit collection pan and its raising and retraction for transport and to aid in transfer of the collected fruit from the secondary transfer assembly are additional features supplementary to picking. INDUSTRIAL APPLICABILITY The harvesting machine of this invention is useful to best advantage in commercial groves having standardized rows of similar-sized trees bearing tree-ripening fruit, preferably having a protective outer skin or rind. Most suitable are citrus fruits, such as grapefruit, lemons, limes, oranges, tangelos, and tangerines, etc. Apples are marginally suitable, but the softer members of that family (e.g., pear, quince) are more susceptible to bruising. This machine compares very favorably to hand-picking, whereas previous machines overlooked more ripe fruit and picked more unripe fruit, often damaging trees in doing so. Furthermore, prior machinery suffered considerable damage itself, because of its inability to yield to tree branches. Notwithstanding those advantages, some maintenance/repair should be expected. Further improvements doubtless will be made to limit the incidence and severity of damage to the machinery as well as possible damage done by the machinery. Changes in aspect ratio, overall size, and/or density of arrays of supporting arms (for the picking fingers) are likely to be desirable, as for use in groves of a different fruit, or where the trees themselves are larger or smaller. To meet these requirements, arrays may be modular, in the sense of being made up of individual modules, each having a given number of arm mounts of manageable total size, such as a couple dozen, e.g, six high and four wide. Suitably held together, arrays could be assembled and disassembled at will, in whole or in part, as for maintenance or repair, or to reduce the overall height for over-the-road travel. Preferred embodiments and variants have been suggested for this invention. Other modifications may be made, as by adding, combining, deleting, or subdividing compositions, parts, steps, or their equivalents, while retaining at least some of the advantages and benefits of the invention, itself defined in the claims following the appended table. TABLE OF REFERENCE NUMERALS

MACHINE 96 TRANSFER END 156 PANTOGRAPH #3

SUPPORT ARM 98 SPRING 158 LINKS OF #3

ARM LENGTH 100 SPRING ANCHOR 160 #3 LINK SLOTS

TREE 102 SPRING REST 162 ARM GUIDE

TUBE FORM 104 PERPENDICULAR 164 GUIDE GROOVE

FRONT END 106 AT OTHER END 168 GUIDE RECESS

COUPLE END 107 AT NORMAL END 170 RESILIENT BLK

ARM DEPLOYED 108 CURVATURE 172 UPPER PAN

NOSE TAPER 110 ARN HOUSING 174 LOWER PAN

ARM CAP 111 ARM CAGE 176 BLKS IN FACE

COUPLING END 112 ARM ARRAY 178 BLKS OUT FACE

ROLLER 114 ROW LEVELS 180 C-COUPLE SLOT

PICK'G FINGER 116 ARRAY FRAME 182 GUIDE AFT END

INNER SURFACE 118 FRAME PLATES 184 ARM COUPLING

OUTER SURFACE 120 MOUNT BOXES 186 RESEAT BACK

PROTRUD'G END 122 TRANSPORT 188 UNCOUPLED ARM

FORWARD ARROW 123 OPERATOR CAGE 190 FRUIT CATCHER

STEM 124 WHEELS 192 COLLECT PAN

FRUIT 126 HYDRO DRIVES 194 LIFT ASSEMBLY

BRANCH 128 FRUIT GROVE 196 FRUIT XFER

ARM/FING APEX 130 TREE ROWS 198 UP POSITION

UPPER SURFACE 132 ALT TRANSPORT 200 DOWN POSITION

LOWER SURFACE 134 TRACTOR 202 PAN CONTOUR

INDENTATIONS 136 GROVE CONFIGN 204 PAN FORWARD

HOLLOW 138 ROAD CONFIG ^»N 206 GROUND

CUTTING EDGE 140 PANTOGRAPH 208 FRAME ENDS

FINGER NORMAL 142 SUPPORT HOUSG 210 ACCESS PANEL

FINGER BACKWD 144 UPPER PIVOTS 212 OUTPUT END

FINGER EXTENT 146 SLIDE PIVOTS 214 HARVEST UPEND

ARM OPENING 148 CENTER PIVOTS 216 SIDE SPACING

PIVOT SHAFT 150 DEPLOY DRIVES 218 RETRACTED

ARM OPENING 152 PANTOGRAPH #2 220 DEPLOYED

TRANSFER SLOT 154 PIVOTS OF #2

Claims

THE CLAIMED INVENTION

1. In a machine [30] for harvesting tree-ripened fruit and having an array [112] of individually mounted, substantially horizontally aligned arms [32] , each arm supporting laterally extending fruit-picking fingers [52] ; the improvement comprising [Figs. 12, 13a, 13b; 15] : resilient arm-mounting members [170] in block form, between which an arm [32] is deflectable up or down, as well as sideways, being thereby enabled to bypass a branch met upon deployment of the array into tree foliage; and guides [162] between which such an arm [32] is normally coupled near its aft end to mating couplings [182] on each guide, and from which the arm is enabled to decouple and to move backward in sliding contact therewith, as upon meeting a tree trunk or other immovable object during its deployment, to which the arm is enabled to be recoupled, upon being retracted to its formerly undeployed position.

2. The harvesting machine improvement according to claim 1, wherein the guides [Fig. 12; 162] for a single arm [32] each have on one face an arm-contacting groove [164] to receive the arm slidably therein, and on their opposite face a recess [166] to receive a first face [176] of one of the pair of resilient blocks [170] .

3. The harvesting machine improvement according to claim 1 or 2, wherein a second face of each of the pair of resilient blocks [Figs. 12, 13; 170] fits within a pan

[172, 174] on an adjacent mounting box [120] supported on the frame [116] of the arm array [Fig. 14; 112] .

4. The harvesting machine improvement according to any preceding claim, wherein alternate levels of array

[112] of supporting arms [32] for the picking fingers [52] and their respective mounting members are offset laterally, whereby [Fig. 14] the arms and their mountings are aligned diagonally with those in adjacent levels and are aligned vertically with those in alternate levels.

5. The harvesting machine improvement according to any preceding claim, including picking-finger [52] mounting

[Figs. 11a to lid] on a pivot shaft [90] in a supporting arm [32] ; the finger protruding obliquely backward in normal rest position [Fig. 11a; 82] via a side opening [92] in the arm and against an edge thereof, with a spring [108] unextended in rest position [102] , having one end affixed to an anchor [100] in the arm and its other end [96] being engaged at one end [107] of a curved slot [94] in the base of the finger, the finger in deployment being depressible against the arm, thereby extending the spring [Fig. lib] ; the finger also being pivotable over-center [Fig. lie] and further backward to rest against the outside surface of the arm [Fig. lid] , extending the spring and transferring its end [96] temporarily to the opposite end [106] of the slot, when upon withdrawal the finger meets an unyielding branch or a stem of a fruit too unripe to be severed by it, thus enabling the finger and its arm to bypass same.

6. The harvesting machine improvement according to any preceding claim, wherein the transfer slot [94] is curved concave toward the end of the spring [108] engaged therein, thereby facilitating transfer of that spring end from the rest position [102] in first end [107] of the slot to the extended position of the spring at the other end [96] of the slot.

7. The harvesting machine improvement according to any preceding claim, including deployment mechanism in the form of pantograph linkage [Fig. 4, 140; Fig. 17, 152; and Figs. 18a to 18c, 156] extensibly connecting the support housing [Fig. 4, 142] and the array [112] of supporting arms [32] for the picking fingers [52] .

8. The harvesting machine according to any preceding claim, including a fruit-collecting assembly [Figs. 4, 5,

6; 190], including a catching pan [192] underneath the arm array [112] , and a transfer assembly [196] extending from the aft end of the pan to an output end opening [212] .

9. The harvesting machine according to claim 8, including catching pan lift assembly [Figs. 5, 6; 194] attachment to an extension [194] on the arm housing [110] .

10. The harvesting machine according to claim 8 or 9 , wherein the catching pan [192] rests on the ground when in position to collect fruit during retraction of the array.

11. In mechanically harvesting tree-ripened fruit, the method improvement comprising the following steps : deploying forward into fruit tree foliage a picking array of resiliently mounted substantially horizontal arms, each such arm laterally supporting numerous fruit-picking fingers, each such finger protruding obliquely backward and being depressible upon encountering a branch as the array enters the foliage, so as to enable effective deployment; withdrawing the array backward out from the foliage, whereby at least some of the protruding picking fingers encounter and grip nearby fruit stems, whether carrying ripened or unripe fruit; severing with the gripping picking fingers the stems of ripened fruit so gripped thereby, and thus releasing the fruit whose stems are severed, to collect therebelow; and enabling any finger, in the event that upon withdrawal such finger meets an unyielding branch or a stem of a fruit too unripe to be so severed thereby, to pivot away from its normal oblique backward orientation sufficiently to enable its arm to bypass such unyielding branch or fruit stem.

12. The method improvement in mechanically harvesting tree-ripened fruit according to claim 11, including a step of mounting the supporting arms for the picking fingers so resiliently as to enable such an arm, upon being deployed, to depart from its horizontal forward orientation enough to bypass an insufficiently yielding branch so encountered.

13. The method improvement in mechanically harvesting tree-ripened fruit according to claim 11 or 12, including the step of mounting the supporting arms to enable such an arm, upon encountering a sufficiently unyielding branch or trunk in being deployed, to undergo an unseating retrograde movement on its mount, thereby enabling the deployment of other arms to be completed without damage from any such encounter, plus a subsequent step of reseating any unseated arm in its normal forwardly seated position on its mount.

14. The method improvement in mechanically harvesting tree-ripened fruit according to claim 13, including the step of reseating unseated arms by juxtaposing their back ends against a stationary upright surface perpendicular thereto as the array becomes substantially completely withdrawn.

15. The method improvement in mechanically harvesting tree-ripened fruit according to any of claims 11 to 14, plus the preliminary step of arranging the array in a pattern, wherein there are at least several dozen laterally spaced arms in each level of at least a couple dozen vertically spaced levels of the array, including vertically aligning supporting arms in alternate levels, offsetting the vertical alignment of the arms in intervening levels.

16. The method improvement in mechanically harvesting tree-ripened fruit according to any of claims 11 to 15, plus the step of deploying a collecting pan underneath the array so deployed, and collecting the detached fruit in it.

17. The method improvement in mechanically harvesting tree-ripened fruit according to any of claim 11 to 16, plus the step of carrying all of the mentioned components on a mobile platform transportable by means of a motor vehicle dedicated to mechanically harvesting tree-ripened fruit.

18. The method improvement in mechanically harvesting tree-ripened fruit according to claim 17, wherein when in deployable position the array is normally taller than it is wide, and including the step of interchanging the vertical and horizontal extent of the array solely for the purpose of facilitating its over-the-road transportation.